拆包更新算法
This commit is contained in:
yiyi
parent
74f9545a65
commit
99881767bb
@ -224,6 +224,7 @@ int DetectPresenter::DetectBag(
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// 1. 使用成员变量算法参数（已在初始化时从XML读取）
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LOG_INFO("[Algo Thread] Using algorithm parameters from XML configuration\n");
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LOG_INFO(" Bag: L=%.1f, W=%.1f, H=%.1f\n",algoParam.bagParam.bagL, algoParam.bagParam.bagW, algoParam.bagParam.bagH);
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LOG_INFO(" supportRotate=%d, outputMode=%d\n",algoParam.supportRotate, algoParam.outputMode);
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LOG_INFO(" Filter: continuityTh=%.1f, outlierTh=%.1f\n", algoParam.filterParam.continuityTh, algoParam.filterParam.outlierTh);
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LOG_INFO(" Corner: minEndingGap=%.1f, minEndingGap_z=%.1f, scale=%.1f, cornerTh=%.1f, jumpCornerTh_1=%.1f, jumpCornerTh_2=%.1f\n",
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@ -894,6 +894,8 @@ int GrabBagPresenter::InitAlgorithmParams()
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LOG_INFO("projectType: %s\n", ProjectTypeToString(m_projectType).c_str());
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LOG_INFO("Algorithm parameters initialized successfully via ParameterManager\n");
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_UpdateCurrentExecutionParams();
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return SUCCESS;
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}
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@ -2,7 +2,7 @@
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#define VERSION_H
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#define GRABBAG_VERSION_STRING "1.3.6"
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#define GRABBAG_BUILD_STRING "1"
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#define GRABBAG_BUILD_STRING "2"
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#define GRABBAG_FULL_VERSION_STRING "V" GRABBAG_VERSION_STRING "_" GRABBAG_BUILD_STRING
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// 获取版本信息的便捷函数
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@ -1,4 +1,7 @@
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# 1.3.6
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## build_2 20260205
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1. 更新算法
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## build_1 20260129
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1. 增加授权判断
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@ -301,7 +301,7 @@ struct VrAlgorithmParams
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VrHsvCmpParam hsvCmpParam;
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VrRgbColorPattern rgbColorPattern;
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VrColorTemplateParam colorTemplateParam;
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int supportRotate = 1;
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int supportRotate = 0;
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int outputMode = 0; // 输出模式：0 - 从大到小， 1 - 从小到大
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};
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@ -19,32 +19,32 @@
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<CURVE IsShow="0" />
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<VALUE Stategy="0" TimeBngrWay="0" Coef_a="0" Coef_b="0" Coef_c="0" Coef_d="0" Coef_e="0" ResetStep="0" XInvl="1000" MaxRadom="0" MinRadom="0" MaxValue="0" MinValue="0" />
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</DATA>
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<DATA Name="1_x" BLOCK="2" PrtcTYPE="2" Unit="--" ShowType="0" Addr="2002" Gain="1" Size="2" BitOffset="0" BitNum="32" Range="--" Color="" ByteOder="0" WordOder="0" IntervalTime="0" IsShow="1" IsBRead="1" IsBWrite="0">
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<DATA Name="1_x" BLOCK="2" PrtcTYPE="2" Unit="--" ShowType="0" Addr="2002" Gain="1" Size="2" BitOffset="0" BitNum="32" Range="--" Color="" ByteOder="0" WordOder="1" IntervalTime="0" IsShow="1" IsBRead="1" IsBWrite="0">
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<TIMEOUT Time="2000" ResendCount="0" />
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<CURVE IsShow="0" />
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<VALUE Stategy="0" TimeBngrWay="0" Coef_a="0" Coef_b="0" Coef_c="0" Coef_d="0" Coef_e="0" ResetStep="0" XInvl="1000" MaxRadom="0" MinRadom="0" MaxValue="0" MinValue="0" />
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</DATA>
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<DATA Name="1_y" BLOCK="2" PrtcTYPE="2" Unit="--" ShowType="0" Addr="2004" Gain="1" Size="2" BitOffset="0" BitNum="32" Range="--" Color="" ByteOder="0" WordOder="0" IntervalTime="0" IsShow="1" IsBRead="1" IsBWrite="0">
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<DATA Name="1_y" BLOCK="2" PrtcTYPE="2" Unit="--" ShowType="0" Addr="2004" Gain="1" Size="2" BitOffset="0" BitNum="32" Range="--" Color="" ByteOder="0" WordOder="1" IntervalTime="0" IsShow="1" IsBRead="1" IsBWrite="0">
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<TIMEOUT Time="2000" ResendCount="0" />
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<CURVE IsShow="0" />
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<VALUE Stategy="0" TimeBngrWay="0" Coef_a="0" Coef_b="0" Coef_c="0" Coef_d="0" Coef_e="0" ResetStep="0" XInvl="1000" MaxRadom="0" MinRadom="0" MaxValue="0" MinValue="0" />
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</DATA>
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<DATA Name="1_z" BLOCK="2" PrtcTYPE="2" Unit="--" ShowType="0" Addr="2006" Gain="1" Size="2" BitOffset="0" BitNum="32" Range="--" Color="" ByteOder="0" WordOder="0" IntervalTime="0" IsShow="1" IsBRead="1" IsBWrite="0">
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<DATA Name="1_z" BLOCK="2" PrtcTYPE="2" Unit="--" ShowType="0" Addr="2006" Gain="1" Size="2" BitOffset="0" BitNum="32" Range="--" Color="" ByteOder="0" WordOder="1" IntervalTime="0" IsShow="1" IsBRead="1" IsBWrite="0">
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<TIMEOUT Time="2000" ResendCount="0" />
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<CURVE IsShow="0" />
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<VALUE Stategy="0" TimeBngrWay="0" Coef_a="0" Coef_b="0" Coef_c="0" Coef_d="0" Coef_e="0" ResetStep="0" XInvl="1000" MaxRadom="0" MinRadom="0" MaxValue="0" MinValue="0" />
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</DATA>
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<DATA Name="1_r" BLOCK="2" PrtcTYPE="2" Unit="--" ShowType="0" Addr="2008" Gain="1" Size="2" BitOffset="0" BitNum="32" Range="--" Color="" ByteOder="0" WordOder="0" IntervalTime="0" IsShow="1" IsBRead="1" IsBWrite="0">
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<DATA Name="1_r" BLOCK="2" PrtcTYPE="2" Unit="--" ShowType="0" Addr="2008" Gain="1" Size="2" BitOffset="0" BitNum="32" Range="--" Color="" ByteOder="0" WordOder="1" IntervalTime="0" IsShow="1" IsBRead="1" IsBWrite="0">
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<TIMEOUT Time="2000" ResendCount="0" />
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<CURVE IsShow="0" />
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<VALUE Stategy="0" TimeBngrWay="0" Coef_a="0" Coef_b="0" Coef_c="0" Coef_d="0" Coef_e="0" ResetStep="0" XInvl="1000" MaxRadom="0" MinRadom="0" MaxValue="0" MinValue="0" />
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</DATA>
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<DATA Name="1_p" BLOCK="2" PrtcTYPE="2" Unit="--" ShowType="0" Addr="2010" Gain="1" Size="2" BitOffset="0" BitNum="32" Range="--" Color="" ByteOder="0" WordOder="0" IntervalTime="0" IsShow="1" IsBRead="1" IsBWrite="0">
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<DATA Name="1_p" BLOCK="2" PrtcTYPE="2" Unit="--" ShowType="0" Addr="2010" Gain="1" Size="2" BitOffset="0" BitNum="32" Range="--" Color="" ByteOder="0" WordOder="1" IntervalTime="0" IsShow="1" IsBRead="1" IsBWrite="0">
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<TIMEOUT Time="2000" ResendCount="0" />
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<CURVE IsShow="0" />
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<VALUE Stategy="0" TimeBngrWay="0" Coef_a="0" Coef_b="0" Coef_c="0" Coef_d="0" Coef_e="0" ResetStep="0" XInvl="1000" MaxRadom="0" MinRadom="0" MaxValue="0" MinValue="0" />
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</DATA>
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<DATA Name="1_y" BLOCK="2" PrtcTYPE="2" Unit="--" ShowType="0" Addr="2012" Gain="1" Size="2" BitOffset="0" BitNum="32" Range="--" Color="" ByteOder="0" WordOder="0" IntervalTime="0" IsShow="1" IsBRead="1" IsBWrite="0">
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<DATA Name="1_y" BLOCK="2" PrtcTYPE="2" Unit="--" ShowType="0" Addr="2012" Gain="1" Size="2" BitOffset="0" BitNum="32" Range="--" Color="" ByteOder="0" WordOder="1" IntervalTime="0" IsShow="1" IsBRead="1" IsBWrite="0">
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<TIMEOUT Time="2000" ResendCount="0" />
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<CURVE IsShow="0" />
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<VALUE Stategy="0" TimeBngrWay="0" Coef_a="0" Coef_b="0" Coef_c="0" Coef_d="0" Coef_e="0" ResetStep="0" XInvl="1000" MaxRadom="0" MinRadom="0" MaxValue="0" MinValue="0" />
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@ -25,6 +25,20 @@ typedef struct
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double yawAngle; //偏转角：绕Z轴的偏转, 弧度
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}SSG_6AxisAttitude;
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typedef struct
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{
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double x;
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double y;
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double z;
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}SWD3DPoint;
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typedef struct
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{
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int lineIdx;
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int ptIdx;
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SWD3DPoint point;
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}SWDIndexing3DPoint;
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typedef struct
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{
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bool validFlag; //指示结果是否有效
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@ -48,6 +62,17 @@ typedef struct
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int idx;
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}SSG_intPair;
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typedef struct
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{
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int featurType;
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int featureIdx_v;
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int featureIdx_h;
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int clusterID;
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int flag;
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int lineIdx;
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int ptIdx;
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}SSG_featureClusteringInfo;
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typedef struct
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{
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double left;
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@ -56,6 +81,12 @@ typedef struct
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double bottom;
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}SSG_ROIRectD;
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typedef struct
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{
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SVzNL3DPoint center;
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double radius;
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}SWD_HoleInfo;
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struct HSV {
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double h; // 色相 (0-360)
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double s; // 饱和度 (0-1)
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@ -157,6 +188,20 @@ typedef struct
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double jumpCornerTh_2;
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}SSG_cornerParam;
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typedef struct
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{
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double segGapTh_y; //y方向连续段门限。大于此门限，为不连续
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double segGapTh_z; //z方向连续段门限。大于此门限，为不连续
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double distScale; //计算方向角的窗口比例尺
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}SSG_lineSegParam;
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typedef struct
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{
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double minJumpZ; //z方向跳变门限
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double minK; //跳变的最小斜率
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SVzNLRangeD widthRange; //z方向连续段门限。大于此门限，为不连续
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}SSG_raisedFeatureParam;
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typedef struct
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{
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double scale_angle; //计算方向角的窗口比例尺
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@ -184,6 +229,7 @@ typedef struct
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int endPtIdx;
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SVzNL3DPoint startPt;
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SVzNL3DPoint endPt;
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double featureValue;
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}SWD_segFeature;
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typedef struct
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@ -247,6 +293,18 @@ typedef struct
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int angleChkScalePos; //仅用于加速angleCheck的速度
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}SSG_featureTree;
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typedef struct
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{
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int treeState;
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int treeType;
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int sLineIdx;
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int eLineIdx;
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double tree_value;
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SSG_ROIRectD roi;
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std::vector< SSG_basicFeatureGap> treeNodes;
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int angleChkScalePos; //仅用于加速angleCheck的速度
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}SSG_gapFeatureTree;
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typedef struct
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{
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int treeState;
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@ -483,4 +541,35 @@ typedef struct
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{
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SVzNL3DPoint pt1;
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SVzNL3DPoint pt2;
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}SWD_3DPointPair;
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}SWD_3DPointPair;
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typedef struct
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{
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int pkId;
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int lineIdx;
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int ptIdx;
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int cptIndex; //圆周扫描上的点序
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//double cornerAngle; //以点为中心的两侧弦的夹角
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double R;
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double angle;
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double x;
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double y;
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double z;
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}SWD_polarPt;
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typedef struct
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{
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int cptIndex;
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int L1_ptIndex;
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int L2_ptIndex;
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double cornerAngle;
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int cornerDir;
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}SWD_polarPeakInfo;
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typedef struct
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{
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int clusterIdx;
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int ptSize;
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SVzNL3DRangeD roi3D;
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SVzNLRect roi2D;
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}SWD_clustersInfo;
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@ -7,6 +7,7 @@
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#define SG_ERR_LABEL_INFO_ERROR -1004
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#define SG_ERR_INVLD_SORTING_MODE -1005
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#define SG_ERR_INVLD_Q_SCALE -1006
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#define SG_ERR_ZERO_OBJECTS -1007
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//BQ_workpiece
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#define SX_ERR_INVLD_VTREE_NUM -2001
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@ -16,6 +17,7 @@
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#define SX_ERR_ZERO_CONTOUR_PT -2005
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#define SX_ERR_INVLID_RPEAK_NUM -2006
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#define SX_ERR_INVLID_RPEAK_PAIR -2007
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#define SX_ERR_INVLID_MARK_NUM -2008
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//땍綾婁혤
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#define SX_ERR_INVLID_CUTTING_Z -2101
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@ -23,3 +25,7 @@
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//뀔관
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#define SX_BAG_TRAY_EMPTY -2201
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//汽车轮眉高度测量
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#define SX_ERR_INVALID_ARC -2301
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@ -9,6 +9,14 @@
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#include "VrLog.h"
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#include <iomanip>
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// 辅助函数：去除字符串末尾的 \r 字符（处理 Windows 格式的 CR LF 换行符）
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static inline void TrimCarriageReturn(std::string& str)
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{
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if (!str.empty() && str.back() == '\r') {
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str.pop_back();
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}
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}
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LaserDataLoader::LaserDataLoader()
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{
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m_lastError.clear();
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@ -57,12 +65,15 @@ int LaserDataLoader::LoadLaserScanData(const std::string& fileName,
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bool bFindLineNum = true;
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int nLaserPointIdx = 0;
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while (std::getline(inputFile, line)) {
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// 去除行末的 \r 字符（处理 Windows 格式的 CR LF 换行符）
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TrimCarriageReturn(line);
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if (line.find("LineNum:") == 0) {
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sscanf(line.c_str(), "LineNum:%d", &lineNum);
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} else if (line.find("DataType:") == 0) {
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} else if (line.find("Line_") == 0) {
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if(false == bFindLineNum) {
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@ -513,6 +524,9 @@ int LaserDataLoader::_GetLaserType(const std::string& fileName, EVzResultDataTyp
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bool bFind = false;
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while (std::getline(inputFile, linedata)) {
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// 去除行末的 \r 字符（处理 Windows 格式的 CR LF 换行符）
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TrimCarriageReturn(linedata);
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if (linedata.find("{") == 0) {
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// 修复正则表达式以匹配实际数据格式
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// XYZ格式: {x,y,z}-{leftX,leftY}-{rightX,rightY}
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@ -6,9 +6,6 @@
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#include <chrono>
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#include <algorithm>
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// 静态成员初始化
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CGlLineLaserDevice* CGlLineLaserDevice::s_pInstance = nullptr;
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CGlLineLaserDevice::CGlLineLaserDevice()
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: m_nDeviceId(0)
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, m_bDeviceOpen(false)
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@ -65,7 +62,7 @@ int CGlLineLaserDevice::OpenDevice(const char* sIP, bool bRGBD, bool bSwing, boo
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memset(ðConfig, 0, sizeof(ethConfig));
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if (sIP && strlen(sIP) > 0) {
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LOG_ERROR("open IP address format: %s\n", sIP);
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LOG_DEBUG("open IP address format: %s\n", sIP);
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// 解析IP字符串 "x.x.x.x"
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int ip[4];
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if (sscanf(sIP, "%d.%d.%d.%d", &ip[0], &ip[1], &ip[2], &ip[3]) == 4) {
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@ -197,24 +194,10 @@ int CGlLineLaserDevice::StartDetect(VzNL_AutoOutputLaserLineExCB fCallFunc, EVzR
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m_bStopDetect = false;
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m_ullFrameIndex = 0;
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// 设置回调实例指针
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s_pInstance = this;
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// 设置批处理回调
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int ret = GLX8_2_SetBatchOneTimeDataHandler(m_nDeviceId, BatchDataCallback);
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if (ret != 0) {
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LOG_ERROR("GLX8_2_SetBatchOneTimeDataHandler failed: %d\n", ret);
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return ERR_CODE(DEV_CTRL_ERR);
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}
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// 开始批处理采集（立即开始）
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ret = GLX8_2_StartMeasureWithCallback(m_nDeviceId, 0);
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if (ret != 0) {
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LOG_ERROR("GLX8_2_StartMeasureWithCallback failed: %d\n", ret);
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return ERR_CODE(DEV_CTRL_ERR);
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}
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// 启动数据采集线程（主动轮询模式）
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m_bDetecting = true;
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m_detectThread = std::thread(&CGlLineLaserDevice::DetectThreadFunc, this);
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LOG_DEBUG("Detection started\n");
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return SUCCESS;
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@ -239,8 +222,12 @@ int CGlLineLaserDevice::StopDetect()
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LOG_ERROR("GLX8_2_StopMeasure failed: %d\n", ret);
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}
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// 等待线程结束
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if (m_detectThread.joinable()) {
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m_detectThread.join();
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}
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m_bDetecting = false;
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s_pInstance = nullptr;
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// 通知状态变化
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if (m_pStatusCallback) {
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@ -253,48 +240,89 @@ int CGlLineLaserDevice::StopDetect()
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return SUCCESS;
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}
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// 批处理数据回调（静态函数）
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void CGlLineLaserDevice::BatchDataCallback(const GLX8_2_STR_CALLBACK_INFO* info, const GLX8_2_Data DataObj)
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// 数据采集线程函数（主动轮询模式，参考 test_deal_atch_datas）
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void CGlLineLaserDevice::DetectThreadFunc()
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{
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if (s_pInstance) {
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s_pInstance->ProcessBatchData(info, DataObj);
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LOG_DEBUG("Detect thread started\n");
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while (!m_bStopDetect) {
|
||||
// 启动批处理（参考 test_deal_atch_datas）
|
||||
int ret = GLX8_2_StartMeasure(m_nDeviceId, 5000); // 5秒超时
|
||||
if (ret != 0) {
|
||||
LOG_ERROR("GLX8_2_StartMeasure failed: %d\n", ret);
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(100));
|
||||
continue;
|
||||
}
|
||||
|
||||
// 等待一小段时间让设备准备好
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(50));
|
||||
|
||||
// 获取批处理数据（参考 test_batch_datas）
|
||||
GetBatchData();
|
||||
|
||||
// 批处理完成后等待一段时间再开始下一次
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(100));
|
||||
}
|
||||
|
||||
LOG_DEBUG("Detect thread stopped\n");
|
||||
}
|
||||
|
||||
// 处理批处理数据
|
||||
void CGlLineLaserDevice::ProcessBatchData(const GLX8_2_STR_CALLBACK_INFO* info, const GLX8_2_Data DataObj)
|
||||
// 获取批处理数据（参考 test_batch_datas 的流程）
|
||||
void CGlLineLaserDevice::GetBatchData()
|
||||
{
|
||||
if (!m_pDetectCallback || m_bStopDetect) {
|
||||
return;
|
||||
}
|
||||
GLX8_2_STR_CALLBACK_INFO info;
|
||||
memset(&info, 0, sizeof(info));
|
||||
|
||||
int width = info->xPoints;
|
||||
int batchCount = info->BatchPoints;
|
||||
LOG_DEBUG("BatchPoints: %d, xPoints: %d\n", batchCount, width);
|
||||
const int maxBatchLines = m_nBatchLines;
|
||||
|
||||
// 获取整个批次的轮廓数据（连续内存，大小为 BatchPoints * xPoints）
|
||||
int32_t* batchProfileData = GLX8_2_GetBatchProfilePoint(DataObj, 0);
|
||||
if (!batchProfileData) {
|
||||
LOG_WARNING("No profile data in batch\n");
|
||||
return;
|
||||
}
|
||||
|
||||
// 拷贝整个批次数据到本地缓存，避免回调期间数据被覆盖
|
||||
size_t totalPoints = static_cast<size_t>(batchCount) * width;
|
||||
// 确保缓存足够大
|
||||
size_t totalPoints = static_cast<size_t>(m_nProfileWidth) * maxBatchLines;
|
||||
if (m_profileBuffer.size() < totalPoints) {
|
||||
m_profileBuffer.resize(totalPoints);
|
||||
}
|
||||
memcpy(m_profileBuffer.data(), batchProfileData, totalPoints * sizeof(int32_t));
|
||||
if (m_intensityBuffer.size() < totalPoints) {
|
||||
m_intensityBuffer.resize(totalPoints);
|
||||
}
|
||||
|
||||
std::vector<uint32_t> encoderBuffer(maxBatchLines);
|
||||
|
||||
// 使用 GLX8_2_ReceiveDataAuto 顺序获取批处理数据
|
||||
int ret = GLX8_2_ReceiveDataAuto(m_nDeviceId, &info,
|
||||
m_profileBuffer.data(),
|
||||
m_intensityBuffer.data(),
|
||||
encoderBuffer.data());
|
||||
|
||||
if (ret != 0) {
|
||||
LOG_WARNING("GLX8_2_ReceiveDataAuto failed: %d\n", ret);
|
||||
return;
|
||||
}
|
||||
|
||||
int batchCount = info.BatchPoints;
|
||||
int width = info.xPoints;
|
||||
|
||||
if (batchCount <= 0 || width <= 0) {
|
||||
LOG_WARNING("Invalid batch data: batchCount=%d, width=%d\n", batchCount, width);
|
||||
return;
|
||||
}
|
||||
|
||||
LOG_DEBUG("Received batch: %d lines, width: %d, startEncoder: %d\n",
|
||||
batchCount, width, info.startEncoder);
|
||||
|
||||
// 确保位置缓存足够大
|
||||
if (m_positionBuffer.size() < static_cast<size_t>(width)) {
|
||||
m_positionBuffer.resize(width);
|
||||
}
|
||||
|
||||
// 逐行处理数据并回调
|
||||
// 逐行处理数据并回调（转换为xyz点云数据）
|
||||
for (int lineIdx = 0; lineIdx < batchCount; lineIdx++) {
|
||||
if (m_bStopDetect) {
|
||||
break;
|
||||
}
|
||||
|
||||
// 计算当前行在缓存中的偏移
|
||||
const int32_t* lineProfile = m_profileBuffer.data() + static_cast<size_t>(lineIdx) * width;
|
||||
|
||||
// 转换为xyz坐标
|
||||
ConvertProfileToPosition(lineProfile, width, lineIdx);
|
||||
|
||||
// 填充 SVzLaserLineData 结构
|
||||
@ -309,32 +337,33 @@ void CGlLineLaserDevice::ProcessBatchData(const GLX8_2_STR_CALLBACK_INFO* info,
|
||||
laserLineData.llFrameIdx = m_ullFrameIndex;
|
||||
laserLineData.llTimeStamp = std::chrono::duration_cast<std::chrono::microseconds>(
|
||||
std::chrono::steady_clock::now().time_since_epoch()).count();
|
||||
laserLineData.nEncodeNo = info->startEncoder + lineIdx;
|
||||
laserLineData.nEncodeNo = encoderBuffer[lineIdx]; // 使用实际的编码器值
|
||||
laserLineData.fSwingAngle = 0.0f; // 线激光没有摆动角度
|
||||
laserLineData.bEndOnceScan = (lineIdx == batchCount - 1) ? VzTrue : VzFalse;
|
||||
|
||||
// 回调
|
||||
m_pDetectCallback(m_eDataType, &laserLineData, m_pDetectCallbackParam);
|
||||
// 回调给上层应用
|
||||
if (m_pDetectCallback) {
|
||||
m_pDetectCallback(m_eDataType, &laserLineData, m_pDetectCallbackParam);
|
||||
}
|
||||
|
||||
m_ullFrameIndex++;
|
||||
}
|
||||
|
||||
LOG_DEBUG("Processed %d lines, xPoints: %d\n", batchCount, width);
|
||||
// 如果是最后一个批处理，通知完成
|
||||
if (info->returnStatus != 0) {
|
||||
StopDetect();
|
||||
}
|
||||
LOG_DEBUG("Processed %d lines, total frames: %llu\n", batchCount, m_ullFrameIndex);
|
||||
}
|
||||
|
||||
// 将轮廓数据转换为位置数据
|
||||
void CGlLineLaserDevice::ConvertProfileToPosition(const int32_t* profileData, int count, int lineIndex)
|
||||
{
|
||||
// lineIndex 参数保留用于未来扩展，当前使用 m_ullFrameIndex 计算全局偏移
|
||||
(void)lineIndex;
|
||||
|
||||
// 确保缓存足够大
|
||||
if (m_positionBuffer.size() < static_cast<size_t>(count)) {
|
||||
m_positionBuffer.resize(count);
|
||||
}
|
||||
|
||||
// 计算Y偏移（基于行索引）
|
||||
// 计算Y偏移（基于全局帧索引）
|
||||
double yOffset = static_cast<double>(m_ullFrameIndex) * m_dYPitch;
|
||||
|
||||
// 转换每个点
|
||||
|
||||
@ -127,10 +127,15 @@ private:
|
||||
// 内部方法
|
||||
|
||||
/**
|
||||
* @brief 数据采集线程函数
|
||||
* @brief 数据采集线程函数（主动轮询模式，参考 test_deal_atch_datas）
|
||||
*/
|
||||
void DetectThreadFunc();
|
||||
|
||||
/**
|
||||
* @brief 获取批处理数据（参考 test_batch_datas 的流程）
|
||||
*/
|
||||
void GetBatchData();
|
||||
|
||||
/**
|
||||
* @brief 将 gl_linelaser_sdk 的轮廓数据转换为 SVzNL3DPosition
|
||||
* @param profileData 轮廓数据（int32_t，单位0.01um）
|
||||
@ -139,19 +144,6 @@ private:
|
||||
* @return 转换后的位置数据数组
|
||||
*/
|
||||
void ConvertProfileToPosition(const int32_t* profileData, int count, int lineIndex);
|
||||
|
||||
/**
|
||||
* @brief 批处理数据回调（静态函数）
|
||||
*/
|
||||
static void BatchDataCallback(const GLX8_2_STR_CALLBACK_INFO* info, const GLX8_2_Data DataObj);
|
||||
|
||||
/**
|
||||
* @brief 处理批处理数据
|
||||
*/
|
||||
void ProcessBatchData(const GLX8_2_STR_CALLBACK_INFO* info, const GLX8_2_Data DataObj);
|
||||
|
||||
// 用于回调的实例指针
|
||||
static CGlLineLaserDevice* s_pInstance;
|
||||
};
|
||||
|
||||
#endif // CGLLINELASERDEVICE_H
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user